In this paper, we present a new two-dof anthropomorphic joint mechanism that enables to mimic the humanlike motion. The proposed mechanism, called Double Active Universal Joint(DAUJ), generates a two-dof swivel motion without rolling by the coupled motion of two independent motor. In addition, we perform basic experiments to confirm the effectiveness of the proposed mechanism and the results are reported.

Keywords

Anthropomorphic;Double Active Universal Joint;

Language

Korean

Cited by

References

1.

Bejczy, A., 1975, 'Distribution of Control Decisions in Remote Manipulation,' Proc. of IEEE Conf. on Decision and Control, pp. 81-91